【只谈干货】利用pcl库三步提取点云中的目标

1. 导入pcd文件

  // Declare the original point cloud
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);

  // Read .pcd file
  pcl::PCDReader reader;
  reader.read<pcl::PointXYZ>("../origin.pcd", *cloud);
  std::cout << "PointCloud before filtering has: " << cloud->points.size () << " data points." << std::endl;

2. 移除地面

pcl::VoxelGrid用来滤波，去除杂点

  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered(new pcl::PointCloud<pcl::PointXYZ>), cloud_f (new pcl::PointCloud<pcl::PointXYZ>);
  // Create the filtering object: downsampling the dataset using a leaf size of 1cm
  pcl::VoxelGrid<pcl::PointXYZ> vg;
  vg.setInputCloud(cloud);
  vg.setLeafSize(0.01f,0.01f,0.01f);
  vg.filter(*cloud_filtered);
  std::cout << "PointCloud after filtering has: " << cloud_filtered->points.size ()  << " data points." << std::endl;

pcl::SACSegmentation 用来做分割。
seg.setModelType (pcl::SACMODEL_PLANE); 设置分割的是平面。
seg.setDistanceThreshold (0.03); 需要调的参数，表示离平面多少距离范围内的点会被分到平面上，值越大越有可能将平面上别的物体错误划分到平面上。

  // Create the segmentation object for the planar model and set all the parameters
  pcl::SACSegmentation<pcl::PointXYZ> seg;
  pcl::PointIndices::Ptr inliers (new pcl::PointIndices);
  pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients);
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_plane (new pcl::PointCloud<pcl::PointXYZ> ());
  pcl::PCDWriter writer;
  seg.setOptimizeCoefficients (true);
  seg.setModelType (pcl::SACMODEL_PLANE);
  seg.setMethodType (pcl::SAC_RANSAC);
  seg.setMaxIterations (100);
  seg.setDistanceThreshold (0.03);   // tunable parameter

因为seg.segment一次只能去除一个平面，需要一个循环来不断剔除点云中的平面。
0.7 * nr_points 这里0.7是个需要调的参数，表示最后至少要留下原来点云的百分之多少，此值越大剔除的平面越少。

  int i=0, nr_points = (int) cloud_filtered->points.size ();
  while (cloud_filtered->points.size () > 0.7 * nr_points)   // tunable parameter
  {
    // Segment the largest planar component from the remaining cloud
    seg.setInputCloud (cloud_filtered);
    seg.segment (*inliers, *coefficients);
    if (inliers->indices.size () == 0)
    {
      std::cout << "Could not estimate a planar model for the given dataset." << std::endl;
      break;
    }

    // Extract the planar inliers from the input cloud
    pcl::ExtractIndices<pcl::PointXYZ> extract;
    extract.setInputCloud (cloud_filtered);
    extract.setIndices (inliers);
    extract.setNegative (false);

    // Get the points associated with the planar surface
    extract.filter (*cloud_plane);
    std::cout << "PointCloud representing the planar component: " << cloud_plane->points.size () << " data points." << std::endl;

    // Remove the planar inliers, extract the rest
    extract.setNegative (true);
    extract.filter (*cloud_f);
    char* path = new char[50];
    sprintf(path, "../pcd/plane_removal_%d.pcd", i);
    writer.write<pcl::PointXYZ>(path, *cloud_f, false);   // Store the results after plane removal
    i++;
    *cloud_filtered = *cloud_f;
  }

3. 目标聚类

pcl::EuclideanClusterExtraction 根据欧式距离聚类
ec.setClusterTolerance (0.1); 需要调的参数，表示聚类的距离，此值越大cluster中包括的点越多。

  // Creating the KdTree object for the search method of the extraction
  pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ>);
  tree->setInputCloud (cloud_filtered);

  std::vector<pcl::PointIndices> cluster_indices;
  pcl::EuclideanClusterExtraction<pcl::PointXYZ> ec;
  ec.setClusterTolerance (0.1);   // (10cm) tunable parameter
  ec.setMinClusterSize (100);
  ec.setMaxClusterSize (25000);
  ec.setSearchMethod (tree);
  ec.setInputCloud (cloud_filtered);
  ec.extract (cluster_indices);

循环输出每个点云聚类结果。

  int j = 0;
  for (std::vector<pcl::PointIndices>::const_iterator it = cluster_indices.begin (); it != cluster_indices.end (); ++it)
  {
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_cluster (new pcl::PointCloud<pcl::PointXYZ>);
    for (std::vector<int>::const_iterator pit = it->indices.begin (); pit != it->indices.end (); ++pit)
      cloud_cluster->points.push_back (cloud_filtered->points[*pit]);
    cloud_cluster->width = cloud_cluster->points.size ();
    cloud_cluster->height = 1;
    cloud_cluster->is_dense = true;

    std::cout << "PointCloud representing the Cluster: " << cloud_cluster->points.size () << " data points." << std::endl;
    std::stringstream ss;
    ss << "../pcd/target_" << j << ".pcd";
    writer.write<pcl::PointXYZ>(ss.str(), *cloud_cluster, false);   // Store the extracted objects
    j++;
  }

聚类最终会产生多个结果，手工挑选自己关注的部分。

4. CMakeLists

cmake_minimum_required(VERSION 2.8)

project(target_extraction)

find_package(PCL 1.10 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable(target_extraction target_extraction.cpp)
target_link_libraries(target_extraction ${PCL_LIBRARIES})